4 Repair
4.3.7. Replacement of complete arm system
3HAC026876-001 Revision: F258
© Copyright 2007-2010 ABB. All rights reserved.
9. Refit 14 of the 16 attachment screws before
the arm system is completely lowered.
NOTE!
Use a torque wrench with a holder for bits
recommended in Required equipment on
page 251.
10. Remove the guide pins and secure the arm
system to the base with its 16attachment
screws and washers.
Shown in the figure Location of arm
system on page 250.
M12 x 80, 12.9 quality gleitmo. Tightening
torque: 105 Nm.
Reused screws may be used, providing
they are lubricated as detailed in the
section Screw joints on page 405 before
fitting.
11. Refit the calibration plate at the bottom of the
frame.
xx0700000380
Parts:
• A: Calibration plate
12. Refit the motor axis 1. Detailed in section Replacement of motor,
axis 1 on page 328.
13. Refit the cabling in the base. Detailed in section Replacement of cable
harness, axes 1-6 on page 203.
Detailed in section Replacement of cable
harness, Cleanroom on page 224.
14. Perform a leak-down test of the gearbox axis
1.
Detailed in section Performing a leak-
down test on page 196.
15. Refill the gearbox axis 1 with lubricating oil. Detailed in section Oil change, gearbox
axis 1 on page 165.
16. Recalibrate the robot. Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section Calibration infor-
mation.
Action Note
Continued
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